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<a href="#files">Files</a> &#124;
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<h1>AbsoluteIMU Sensor<br/>
<small>
[<a class="el" href="group__mindsensors.html">Mindsensors</a>]</small>
</h1>  </div>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="files"></a>
Files</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mindsensors-imu_8h.html">mindsensors-imu.h</a></td></tr>

<p><tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><p>Mindsensors AbsoluteIMU Sensor driver. </p>
<br/></td></tr>
</p>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gae90c6c346fd2ea07d29dd5312f69a38c">MSIMU_IMU_I2C_ADDR</a>&#160;&#160;&#160;0x22</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaf0b1aebfb7bcbece8a48e41e22d381d4">MSIMU_REG_CMD</a>&#160;&#160;&#160;0x41</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gad51c9b76f348df2462e82013ac22cb98">MSIMU_REG_TILT_ALL_AXES</a>&#160;&#160;&#160;0x42</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga15de9f02904e24957dea410855d5b5e4">MSIMU_REG_ACC_ALL_AXES</a>&#160;&#160;&#160;0x45</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaa9876d9b5b9d3b7dfd15bc520fab614e">MSIMU_REG_COMPASS_HEADING</a>&#160;&#160;&#160;0x4B</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga5c8fb09b4f85fb73e192fd84c56bbcc5">MSIMU_REG_COMPASS_ALL_FIELDS</a>&#160;&#160;&#160;0x4D</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gae32355c9166051c7fd3a544c1718ada2">MSIMU_REG_GYRO_ALL_AXES</a>&#160;&#160;&#160;0x53</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga4dd0432a1d355b19202419cd4fcf4d84">MSIMU_REG_GYRO_FILTER</a>&#160;&#160;&#160;0x5A</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga03707ad1b87c0699dcd147b513f049a7">MSIMU_CMD_COMPASS_START_CAL</a>&#160;&#160;&#160;0x43</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gab97fdb2bc29124f6b50934899cea60d6">MSIMU_CMD_COMPASS_STOP_CAL</a>&#160;&#160;&#160;0x63</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gab3d39ed6945825ae545b87fd2e96597a">MSIMU_CMD_ACC_RANGE_2G</a>&#160;&#160;&#160;0x31</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga1db8e9184ae78cef3d5e565c59361da5">MSIMU_CMD_ACC_RANGE_4G</a>&#160;&#160;&#160;0x32</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gad4329324a23af016799f0b000ec01871">MSIMU_CMD_ACC_RANGE_8G</a>&#160;&#160;&#160;0x33</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga1e58091391f56ea0515edb0b571d67a2">MSIMU_CMD_ACC_RANGE_16G</a>&#160;&#160;&#160;0x34</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaad4e02250e95a5c4a00c9b85b5d7e6de">MSIMU_GYRO_FILTER_NONE</a>&#160;&#160;&#160;0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gae717964be01f52e604d04a8174a3c0f2">MSIMU_GYRO_FILTER_LEVEL_1</a>&#160;&#160;&#160;1</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gac4efe3bd68c952f77879d7c65aab2822">MSIMU_GYRO_FILTER_LEVEL_2</a>&#160;&#160;&#160;2</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gacdf968da85c234429f33952f641a09fe">MSIMU_GYRO_FILTER_LEVEL_3</a>&#160;&#160;&#160;3</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaa584c6fef1c88757433e48cbe8ab9b98">MSIMU_GYRO_FILTER_LEVEL_4</a>&#160;&#160;&#160;4</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga3bb543a8e7610eb89f40b2582519fccc">MSIMU_GYRO_FILTER_LEVEL_5</a>&#160;&#160;&#160;5</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gab6f4423d9dc7a519800fe875f3501524">MSIMU_GYRO_FILTER_LEVEL_6</a>&#160;&#160;&#160;6</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga9189a10c20c1d68d511645ad933653a7">MSIMU_GYRO_FILTER_LEVEL_7</a>&#160;&#160;&#160;7</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaf1b80334857e08e7577840d80f442ebe">MSIMU_TILT_X_AXIS</a>&#160;&#160;&#160;MSIMU_REG_TILT_X_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga90c69d6d0c15458904534580dbea83a2">MSIMU_TILT_Y_AXIS</a>&#160;&#160;&#160;MSIMU_REG_TILT_Y_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gacdac62e500702d32541e273251ef57bc">MSIMU_TILT_Z_AXIS</a>&#160;&#160;&#160;MSIMU_REG_TILT_Z_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga5ff47a32e57466e62f92f2fea44465b7">MSIMU_ACC_X_AXIS</a>&#160;&#160;&#160;MSIMU_REG_ACC_X_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga5822f1c91b7db7aed055972b79e942f2">MSIMU_ACC_Y_AXIS</a>&#160;&#160;&#160;MSIMU_REG_ACC_Y_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga938a63a8a640ef9f6a7f40dd6fac006f">MSIMU_ACC_Z_AXIS</a>&#160;&#160;&#160;MSIMU_REG_ACC_Z_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga46f1427746efe302ba98c3fb3d4603e2">MSIMU_GYRO_X_AXIS</a>&#160;&#160;&#160;MSIMU_REG_GYRO_X_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga4e8e8882a6b8639ea5687f5c965f0d0e">MSIMU_GYRO_Y_AXIS</a>&#160;&#160;&#160;MSIMU_REG_GYRO_Y_AXIS</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga3bf852de2191458bd76efa56a4b5590b">MSIMU_GYRO_Z_AXIS</a>&#160;&#160;&#160;MSIMU_REG_GYRO_Z_AXIS</td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga620eca05759c968f9ec07f43ac48b180">_MSIMUsendCMD</a> (tSensors link, ubyte cmd)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga253f914b8feec4f753115641526ea23a">MSIMUreadTiltAxes</a> (tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga8631f671fa303d83d25e7eb0c1b38fb5">MSIMUreadGyroAxes</a> (tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gad34ae53b61b5a0b5adc0a23e1e209acd">MSIMUreadAccelAxes</a> (tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaf260cb22f3e20cba7616ef493686eeca">MSIMUreadMagneticFields</a> (tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gaa22086625869ed957b7f55415f6bd905">MSIMUreadHeading</a> (tSensors link)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga851b0927cb806cea01197fe59f5b7cc2">MSIMUsetGyroFilter</a> (tSensors link, ubyte level)</td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#gac2d44510ac67a1cf2c4657f1b726d79c">MSIMU_I2CRequest</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___m_s_i_m_u.html#ga446be502f64e415ceaa9e0f335c6d459">MSIMU_I2CReply</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Mindsensors AbsoluteIMU Sensor (MSIMU) driver </p>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="ga5ff47a32e57466e62f92f2fea44465b7"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_ACC_X_AXIS" ref="ga5ff47a32e57466e62f92f2fea44465b7" args="" -->
<div class="memitem">
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          <td class="memname">#define MSIMU_ACC_X_AXIS&#160;&#160;&#160;MSIMU_REG_ACC_X_AXIS</td>
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</div>
<div class="memdoc">

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00076">76</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga5822f1c91b7db7aed055972b79e942f2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_ACC_Y_AXIS" ref="ga5822f1c91b7db7aed055972b79e942f2" args="" -->
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          <td class="memname">#define MSIMU_ACC_Y_AXIS&#160;&#160;&#160;MSIMU_REG_ACC_Y_AXIS</td>
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</div>
<div class="memdoc">

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00077">77</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga938a63a8a640ef9f6a7f40dd6fac006f"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_ACC_Z_AXIS" ref="ga938a63a8a640ef9f6a7f40dd6fac006f" args="" -->
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          <td class="memname">#define MSIMU_ACC_Z_AXIS&#160;&#160;&#160;MSIMU_REG_ACC_Z_AXIS</td>
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</div>
<div class="memdoc">

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00078">78</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga1e58091391f56ea0515edb0b571d67a2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_ACC_RANGE_16G" ref="ga1e58091391f56ea0515edb0b571d67a2" args="" -->
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          <td class="memname">#define MSIMU_CMD_ACC_RANGE_16G&#160;&#160;&#160;0x34</td>
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<div class="memdoc">
<p>Accelerometer 16G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00060">60</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gab3d39ed6945825ae545b87fd2e96597a"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_ACC_RANGE_2G" ref="gab3d39ed6945825ae545b87fd2e96597a" args="" -->
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          <td class="memname">#define MSIMU_CMD_ACC_RANGE_2G&#160;&#160;&#160;0x31</td>
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<div class="memdoc">
<p>Accelerometer 2G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00057">57</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga1db8e9184ae78cef3d5e565c59361da5"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_ACC_RANGE_4G" ref="ga1db8e9184ae78cef3d5e565c59361da5" args="" -->
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          <td class="memname">#define MSIMU_CMD_ACC_RANGE_4G&#160;&#160;&#160;0x32</td>
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<div class="memdoc">
<p>Accelerometer 4G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00058">58</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gad4329324a23af016799f0b000ec01871"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_ACC_RANGE_8G" ref="gad4329324a23af016799f0b000ec01871" args="" -->
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          <td class="memname">#define MSIMU_CMD_ACC_RANGE_8G&#160;&#160;&#160;0x33</td>
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<p>Accelerometer 8G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00059">59</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga03707ad1b87c0699dcd147b513f049a7"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_COMPASS_START_CAL" ref="ga03707ad1b87c0699dcd147b513f049a7" args="" -->
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          <td class="memname">#define MSIMU_CMD_COMPASS_START_CAL&#160;&#160;&#160;0x43</td>
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<div class="memdoc">
<p>Accelerometer 2G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00054">54</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gab97fdb2bc29124f6b50934899cea60d6"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_CMD_COMPASS_STOP_CAL" ref="gab97fdb2bc29124f6b50934899cea60d6" args="" -->
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          <td class="memname">#define MSIMU_CMD_COMPASS_STOP_CAL&#160;&#160;&#160;0x63</td>
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<div class="memdoc">
<p>Accelerometer 2G range </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00055">55</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gae717964be01f52e604d04a8174a3c0f2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_1" ref="gae717964be01f52e604d04a8174a3c0f2" args="" -->
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          <td class="memname">#define MSIMU_GYRO_FILTER_LEVEL_1&#160;&#160;&#160;1</td>
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<p>Gyro filter level: 1 </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00063">63</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gac4efe3bd68c952f77879d7c65aab2822"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_2" ref="gac4efe3bd68c952f77879d7c65aab2822" args="" -->
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<p>Gyro filter level: 2 </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00064">64</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gacdf968da85c234429f33952f641a09fe"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_3" ref="gacdf968da85c234429f33952f641a09fe" args="" -->
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          <td class="memname">#define MSIMU_GYRO_FILTER_LEVEL_3&#160;&#160;&#160;3</td>
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<p>Gyro filter level: 3 </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00065">65</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaa584c6fef1c88757433e48cbe8ab9b98"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_4" ref="gaa584c6fef1c88757433e48cbe8ab9b98" args="" -->
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<p>Gyro filter level: 4 (default) </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00066">66</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga3bb543a8e7610eb89f40b2582519fccc"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_5" ref="ga3bb543a8e7610eb89f40b2582519fccc" args="" -->
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<p>Gyro filter level: 5 </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00067">67</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gab6f4423d9dc7a519800fe875f3501524"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_6" ref="gab6f4423d9dc7a519800fe875f3501524" args="" -->
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<p>Gyro filter level: 6 </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00068">68</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga9189a10c20c1d68d511645ad933653a7"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_LEVEL_7" ref="ga9189a10c20c1d68d511645ad933653a7" args="" -->
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<p>Gyro filter level: 7 (highest) </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00069">69</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaad4e02250e95a5c4a00c9b85b5d7e6de"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_FILTER_NONE" ref="gaad4e02250e95a5c4a00c9b85b5d7e6de" args="" -->
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          <td class="memname">#define MSIMU_GYRO_FILTER_NONE&#160;&#160;&#160;0</td>
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<p>Gyro filter level: none </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00062">62</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga46f1427746efe302ba98c3fb3d4603e2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_X_AXIS" ref="ga46f1427746efe302ba98c3fb3d4603e2" args="" -->
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          <td class="memname">#define MSIMU_GYRO_X_AXIS&#160;&#160;&#160;MSIMU_REG_GYRO_X_AXIS</td>
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      </table>
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00080">80</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga4e8e8882a6b8639ea5687f5c965f0d0e"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_Y_AXIS" ref="ga4e8e8882a6b8639ea5687f5c965f0d0e" args="" -->
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          <td class="memname">#define MSIMU_GYRO_Y_AXIS&#160;&#160;&#160;MSIMU_REG_GYRO_Y_AXIS</td>
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00081">81</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga3bf852de2191458bd76efa56a4b5590b"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_GYRO_Z_AXIS" ref="ga3bf852de2191458bd76efa56a4b5590b" args="" -->
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00082">82</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gae90c6c346fd2ea07d29dd5312f69a38c"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_IMU_I2C_ADDR" ref="gae90c6c346fd2ea07d29dd5312f69a38c" args="" -->
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          <td class="memname">#define MSIMU_IMU_I2C_ADDR&#160;&#160;&#160;0x22</td>
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<p>IMU I2C address </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00043">43</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga15de9f02904e24957dea410855d5b5e4"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_ACC_ALL_AXES" ref="ga15de9f02904e24957dea410855d5b5e4" args="" -->
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          <td class="memname">#define MSIMU_REG_ACC_ALL_AXES&#160;&#160;&#160;0x45</td>
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<p>All Axes for Accel </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00048">48</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaf0b1aebfb7bcbece8a48e41e22d381d4"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_CMD" ref="gaf0b1aebfb7bcbece8a48e41e22d381d4" args="" -->
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          <td class="memname">#define MSIMU_REG_CMD&#160;&#160;&#160;0x41</td>
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<p>Command register </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00045">45</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga5c8fb09b4f85fb73e192fd84c56bbcc5"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_COMPASS_ALL_FIELDS" ref="ga5c8fb09b4f85fb73e192fd84c56bbcc5" args="" -->
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          <td class="memname">#define MSIMU_REG_COMPASS_ALL_FIELDS&#160;&#160;&#160;0x4D</td>
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<p>All magnetic fields for compass </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00050">50</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaa9876d9b5b9d3b7dfd15bc520fab614e"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_COMPASS_HEADING" ref="gaa9876d9b5b9d3b7dfd15bc520fab614e" args="" -->
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          <td class="memname">#define MSIMU_REG_COMPASS_HEADING&#160;&#160;&#160;0x4B</td>
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<p>Compass heading </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00049">49</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gae32355c9166051c7fd3a544c1718ada2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_GYRO_ALL_AXES" ref="gae32355c9166051c7fd3a544c1718ada2" args="" -->
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          <td class="memname">#define MSIMU_REG_GYRO_ALL_AXES&#160;&#160;&#160;0x53</td>
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<p>All Axes for Gyro </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00051">51</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga4dd0432a1d355b19202419cd4fcf4d84"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_GYRO_FILTER" ref="ga4dd0432a1d355b19202419cd4fcf4d84" args="" -->
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          <td class="memname">#define MSIMU_REG_GYRO_FILTER&#160;&#160;&#160;0x5A</td>
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<p>Filter level for Gyro </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00052">52</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gad51c9b76f348df2462e82013ac22cb98"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_REG_TILT_ALL_AXES" ref="gad51c9b76f348df2462e82013ac22cb98" args="" -->
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          <td class="memname">#define MSIMU_REG_TILT_ALL_AXES&#160;&#160;&#160;0x42</td>
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<p>All Axes for Tilt </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00047">47</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaf1b80334857e08e7577840d80f442ebe"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_TILT_X_AXIS" ref="gaf1b80334857e08e7577840d80f442ebe" args="" -->
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          <td class="memname">#define MSIMU_TILT_X_AXIS&#160;&#160;&#160;MSIMU_REG_TILT_X_AXIS</td>
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00072">72</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga90c69d6d0c15458904534580dbea83a2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_TILT_Y_AXIS" ref="ga90c69d6d0c15458904534580dbea83a2" args="" -->
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00073">73</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gacdac62e500702d32541e273251ef57bc"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_TILT_Z_AXIS" ref="gacdac62e500702d32541e273251ef57bc" args="" -->
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00074">74</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga620eca05759c968f9ec07f43ac48b180"></a><!-- doxytag: member="mindsensors&#45;imu.h::_MSIMUsendCMD" ref="ga620eca05759c968f9ec07f43ac48b180" args="(tSensors link, ubyte cmd)" -->
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          <td>(</td>
          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">ubyte&#160;</td>
          <td class="paramname"> <em>cmd</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Send a command to the sensor</p>
<p>Note: this is an internal function and should be called directly </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">cmd</td><td>the command to be sent </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00104">104</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gad34ae53b61b5a0b5adc0a23e1e209acd"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUreadAccelAxes" ref="gad34ae53b61b5a0b5adc0a23e1e209acd" args="(tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)" -->
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          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_z</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Read all of the accelerometer axes </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">_x</td><td>variable to hold X axis data </td></tr>
    <tr><td class="paramname">_y</td><td>variable to hold Y axis data </td></tr>
    <tr><td class="paramname">_z</td><td>variable to hold Z axis data </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="mindsensors-imu-test1_8c-example.html#a1">mindsensors-imu-test1.c</a>.</dd>
</dl>
<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00170">170</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga8631f671fa303d83d25e7eb0c1b38fb5"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUreadGyroAxes" ref="ga8631f671fa303d83d25e7eb0c1b38fb5" args="(tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)" -->
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          <td>(</td>
          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_z</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Read all three axes of the gyro </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">_x</td><td>data for x axis in degrees per second </td></tr>
    <tr><td class="paramname">_y</td><td>data for y axis in degrees per second </td></tr>
    <tr><td class="paramname">_z</td><td>data for z axis in degrees per second </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="mindsensors-imu-test1_8c-example.html#a0">mindsensors-imu-test1.c</a>.</dd>
</dl>
<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00147">147</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaa22086625869ed957b7f55415f6bd905"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUreadHeading" ref="gaa22086625869ed957b7f55415f6bd905" args="(tSensors link)" -->
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          <td class="memname">int MSIMUreadHeading </td>
          <td>(</td>
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          <td class="paramname"> <em>link</em>&#160;)</td>
          <td></td>
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<p>Read the current magnetic compass heading </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>the current heading </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="mindsensors-imu-test2_8c-example.html#a0">mindsensors-imu-test2.c</a>, and <a class="el" href="mindsensors-imu-test3_8c-example.html#a0">mindsensors-imu-test3.c</a>.</dd>
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<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00215">215</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gaf260cb22f3e20cba7616ef493686eeca"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUreadMagneticFields" ref="gaf260cb22f3e20cba7616ef493686eeca" args="(tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)" -->
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          <td class="memname">bool MSIMUreadMagneticFields </td>
          <td>(</td>
          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramname"> <em>_x</em>, </td>
        </tr>
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          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_y</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_z</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Read all the magnetic field strengths </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">_x</td><td>variable to hold X axis data </td></tr>
    <tr><td class="paramname">_y</td><td>variable to hold Y axis data </td></tr>
    <tr><td class="paramname">_z</td><td>variable to hold Z axis data </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="mindsensors-imu-test3_8c-example.html#a1">mindsensors-imu-test3.c</a>.</dd>
</dl>
<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00194">194</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga253f914b8feec4f753115641526ea23a"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUreadTiltAxes" ref="ga253f914b8feec4f753115641526ea23a" args="(tSensors link, int &amp;_x, int &amp;_y, int &amp;_z)" -->
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          <td>(</td>
          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
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          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_x</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_y</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"> <em>_z</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Read all three tilt axes </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">_x</td><td>data for x axis in degrees per second </td></tr>
    <tr><td class="paramname">_y</td><td>data for y axis in degrees per second </td></tr>
    <tr><td class="paramname">_z</td><td>data for z axis in degrees per second </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="mindsensors-imu-test2_8c-example.html#a1">mindsensors-imu-test2.c</a>.</dd>
</dl>
<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00123">123</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="ga851b0927cb806cea01197fe59f5b7cc2"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMUsetGyroFilter" ref="ga851b0927cb806cea01197fe59f5b7cc2" args="(tSensors link, ubyte level)" -->
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          <td class="memname">bool MSIMUsetGyroFilter </td>
          <td>(</td>
          <td class="paramtype">tSensors&#160;</td>
          <td class="paramname"> <em>link</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">ubyte&#160;</td>
          <td class="paramname"> <em>level</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Set the level of filtering of the Gryo readings. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">link</td><td>the port number </td></tr>
    <tr><td class="paramname">level</td><td>the level of filtering (0-7) where 0 is none and 7 is the highest amount of filtering, 4 is the default level. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if no error occured, false if it did </dd></dl>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00234">234</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="ga446be502f64e415ceaa9e0f335c6d459"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_I2CReply" ref="ga446be502f64e415ceaa9e0f335c6d459" args="" -->
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          <td class="memname"><a class="el" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="el" href="group___m_s_i_m_u.html#ga446be502f64e415ceaa9e0f335c6d459">MSIMU_I2CReply</a></td>
        </tr>
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<p>Array to hold I2C reply data </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00085">85</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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<a class="anchor" id="gac2d44510ac67a1cf2c4657f1b726d79c"></a><!-- doxytag: member="mindsensors&#45;imu.h::MSIMU_I2CRequest" ref="gac2d44510ac67a1cf2c4657f1b726d79c" args="" -->
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          <td class="memname"><a class="el" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="el" href="group___m_s_i_m_u.html#gac2d44510ac67a1cf2c4657f1b726d79c">MSIMU_I2CRequest</a></td>
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      </table>
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<p>Array to hold I2C command data </p>

<p>Definition at line <a class="el" href="mindsensors-imu_8h_source.html#l00084">84</a> of file <a class="el" href="mindsensors-imu_8h_source.html">mindsensors-imu.h</a>.</p>

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